自动化学报2011，Vol.37Issue(1)：67-73,7.DOI:10.3724/SP.J.1004.2011.00067
欠驱动三连杆机械臂能量解耦控制策略
Energy Decoupling Control Strategy for Three-link Underactuated Manipulator
摘要
Abstract
An energy decoupling control strategy is presented for the underactuated three-link manipulator with a passive second joint. Firstly, the motion space is divided into swing-up area and balance area, furthermore, the former is divided into swing-up subspace 1 and swing-up subspace 2 so as to swing up control rapidly. Secondly, a control law based on Lyapunov function is employed to make the third link stretch in a natural way, that is, the angle and angular velocity of the third link converge to zero, which can decouple the energy and the states of the third link in the swing up process.Next, another control law is designed to increase the energy in the swing-up subspace 2 to make the system swing up to the balance area. Then, a balancing control law based on linear quadratic regulator (LQR) stabilizes the system at the upright equilibrium. Finally, some simulation results demonstrate the validity of this method.关键词
欠驱动机械臂/Lyapunov function/能量解耦/LQR引用本文复制引用
赖旭芝,张镇,吴敏..欠驱动三连杆机械臂能量解耦控制策略[J].自动化学报,2011,37(1):67-73,7.基金项目
国家自然科学基金(61074112,60674044)资助 （61074112,60674044）
